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[P1] Diagnostic self-test — startup hardware check + continuous monitoring #445

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opened 2026-03-05 09:02:25 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-05 09:02:25 -05:00
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Goal

Comprehensive hardware self-test on boot and continuous monitoring during operation.

Startup Checks

  • RPLIDAR spinning + data flowing
  • RealSense D435i connected + streaming
  • VESC responding to UART
  • Jabra mic detected + audio level test
  • STM32 watchdog alive
  • Pan/tilt servos responding
  • WiFi connected to Orin AP
  • GPS fix acquired (or timeout warning)
  • Disk space check (warn if <5GB free)
  • RAM usage check

Runtime Monitoring

  • Continuous sensor health (fps drops, data gaps)
  • Motor current anomalies (stall detection)
  • Temperature alerts (Orin GPU >80C, VESC >60C)
  • Network latency to phone node

Requirements

  • ROS2 node publishing /saltybot/diagnostics (DiagnosticArray)
  • TTS announcement: "All systems green" or "Warning: [issue]"
  • Face display: boot animation during self-test
  • Configurable: skip specific checks, timeout values
  • Log all results to /home/seb/saltybot-data/diagnostics/
## Goal Comprehensive hardware self-test on boot and continuous monitoring during operation. ## Startup Checks - RPLIDAR spinning + data flowing - RealSense D435i connected + streaming - VESC responding to UART - Jabra mic detected + audio level test - STM32 watchdog alive - Pan/tilt servos responding - WiFi connected to Orin AP - GPS fix acquired (or timeout warning) - Disk space check (warn if <5GB free) - RAM usage check ## Runtime Monitoring - Continuous sensor health (fps drops, data gaps) - Motor current anomalies (stall detection) - Temperature alerts (Orin GPU >80C, VESC >60C) - Network latency to phone node ## Requirements - ROS2 node publishing /saltybot/diagnostics (DiagnosticArray) - TTS announcement: "All systems green" or "Warning: [issue]" - Face display: boot animation during self-test - Configurable: skip specific checks, timeout values - Log all results to /home/seb/saltybot-data/diagnostics/
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#445
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